The Marine Debris Forward-Looking Sonar Datasets

Matias Valdenegro-Toro, Deepan Chakravarthi Padmanabhan, Deepak Singh, Bilal Wehbe, Yvan Petillot
3/28/2025
cs.CVcs.LG

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Abstract

Sonar sensing is fundamental for underwater robotics, but limited by capabilities of AI systems, which need large training datasets. Public data in sonar modalities is lacking. This paper presents the Marine Debris Forward-Looking Sonar datasets, with three different settings (watertank, turntable, flooded quarry) increasing dataset diversity and multiple computer vision tasks: object classification, object detection, semantic segmentation, patch matching, and unsupervised learning. We provide full dataset description, basic analysis and initial results for some tasks. We expect the research community will benefit from this dataset, which is publicly available at https://doi.org/10.5281/zenodo.15101686

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Cite this paper

@article{valdenegrotoro2025marine,
  title  = {The Marine Debris Forward-Looking Sonar Datasets},
  author = {Matias Valdenegro-Toro and Deepan Chakravarthi Padmanabhan and Deepak Singh and Bilal Wehbe and Yvan Petillot},
  year   = {2025},
  eprint = {2503.22880},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2503.22880v1}
}

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